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公开(公告)号：US20230211987A1
公开(公告)日：2023-07-06
申请号：US18146586
申请日：2022-12-27
发明人： Sime Batovic , Matija Zigic
CPC分类号： B66F9/063 , B65G67/02 , G05D1/0212 , G05D2201/0216
摘要： To load and unload a trailer, an autonomous mobile robot determines its location and the location of objects within the trailer relative to the trailer itself, rather than relative to a warehouse. The autonomous mobile robot determines its location the location of objects within the trailer relative to the trailer. The autonomous mobile robot navigates within the trailer and manipulates objects within the trailer from the trailer's reference frame. Additionally, the autonomous mobile robot uses a centerline heuristic to compute a path for itself within the trailer. A centerline heuristic evaluates nodes within the trailer based on how far away those nodes are from the centerline. If the nodes are further away from the centerline, they are assigned a higher cost. Thus, when the autonomous mobile robot computes a path, the path is more likely to stay near the centerline of the trailer rather than get closer to the sides.
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公开(公告)号：US11524846B2
公开(公告)日：2022-12-13
申请号：US17138432
申请日：2020-12-30
发明人： Josip Cesic , Daniel Guja , Juraj Radic
IPC分类号： G06V20/64 , B65G1/06 , B66F9/06 , G05D1/02 , G05D1/00 , B65G1/137 , G06V20/10 , G06F3/0486 , G06V30/194 , G06K9/62 , G06F3/04847
摘要： A system and a method are disclosed where an autonomous robot captures an image of an object to be transported from a source to a destination. The robot generates a bounding box within the image surrounding the object. The robot applies a machine-learned model to the image with the bounding box, the machine-learned model configured to identify an object type of the object, and to identify features of the object based on the identified object type and the image. The robot determines which of the identified features of the object are visible to the autonomous robot, and determines a three-dimensional pose of the object based on the features determined to be visible to the autonomous robot.
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公开(公告)号：US20220119196A1
公开(公告)日：2022-04-21
申请号：US17138440
申请日：2020-12-30
发明人： Josip Cesic , Tomislav Haus , MATIJA ZIGIC
IPC分类号： B65G1/137
摘要： A system and a method are disclosed that cause a robot to traverse along a route based on a minimum distance to be maintained between the autonomous mobile robot and an obstacle corresponding to a first mode. The robot determines that the route cannot be continued without a distance between the robot and a detected obstacle becoming less than the minimum distance, and responsively determines whether the route can be continued without the distance between the robot and the detected obstacle becoming less than a second minimum distance less than the initial minimum distance, the second minimum distance corresponding to a second mode. Responsive to determining that the route can be continued without the distance between the autonomous mobile robot and the detected obstacle becoming less than the second minimum distance, the robot is configured to operate in second mode and continues traversal of the route.
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4.发明公开公开(公告)号：US20240160223A1
公开(公告)日：2024-05-16
申请号：US18510136
申请日：2023-11-15
发明人： Josip Cesic , Kruno Lenac , Tonci Novkovic , Luka Pevec
IPC分类号： G05D1/246 , G05D1/646 , G05D1/69 , G05D105/80 , G05D107/70 , G05D111/10 , G05D111/63 , G06V10/82
CPC分类号： G05D1/2462 , G05D1/646 , G05D1/69 , G06V10/82 , G05D2105/87 , G05D2107/70 , G05D2111/10 , G05D2111/65
摘要： A system and method are described that provide for mapping features of a warehouse environment having improved workflow. In one example of the system/method of the present invention, a mapping robot is navigated through a warehouse environment, and sensors of the mapping robot collect geospatial data as part of a mapping mode. A Frontend N block of a map framework may be responsible for reading and processing the geospatial data from the sensors of the mapping robot, as well as various other functions. The data may be stored in a keyframe object at a keyframe database. A Backend block of the map framework may be useful for detecting loop constraints, building submaps, optimizing a pose graph using keyframe data from one or more trajectory blocks, and/or various other functions.
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5.发明公开公开(公告)号：US20240157556A1
公开(公告)日：2024-05-16
申请号：US18510041
申请日：2023-11-15
发明人： Tomislav Haus , Petra Maždin , Fran Ante Loncar
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , B25J9/161 , B25J9/162
摘要： A system and method are described that provide for queueing robot operations in a warehouse environment based on workflow optimization instructions. In one example of the system/method of the present invention, a control system causes certain robots to queue proximate to one another to permit resources to be obtained, transported, deposited, etc. without the robots crashing into one another (or into other objects), or forming traffic jams. A robot may remain at an assigned queue position at least until another position assigned to the robot becomes available.
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公开(公告)号：US20230211508A1
公开(公告)日：2023-07-06
申请号：US18146579
申请日：2022-12-27
发明人： Josip Cesic , Edin Koco , Kruno Lenac , Marko Pavlic , Daniel Guja , Matija Zigic , William Booth , Slaven Strazanac , Tomislav Haus
CPC分类号： B25J13/089 , B25J9/1664 , B25J9/1687 , B66F9/063
摘要： To load and unload a trailer, an autonomous mobile robot determines its location and the location of objects within the trailer relative to the trailer itself, rather than relative to a warehouse. The autonomous mobile robot determines its location the location of objects within the trailer relative to the trailer. The autonomous mobile robot navigates within the trailer and manipulates objects within the trailer from the trailer's reference frame. Additionally, the autonomous mobile robot uses a centerline heuristic to compute a path for itself within the trailer. A centerline heuristic evaluates nodes within the trailer based on how far away those nodes are from the centerline. If the nodes are further away from the centerline, they are assigned a higher cost. Thus, when the autonomous mobile robot computes a path, the path is more likely to stay near the centerline of the trailer rather than get closer to the sides.
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公开(公告)号：US20230131736A1
公开(公告)日：2023-04-27
申请号：US17576036
申请日：2022-01-14
发明人： Hinko Zlopasa , Dean Dekovic , Kresimir Zidanic , Edin Koco
摘要： An autonomous mobile robot may use an improved steering system. The improved steering system may include a steering motor that is operably coupled to a motor shaft. The motor shaft may be aligned at an offset position relative to a center axis of the autonomous mobile robot. The motor shaft may be operably coupled to a front and rear steering linkage. Each steering linkage may include a pitman arm that is coupled to the motor shaft and a drag link. The drag link may be coupled to a first steering arm and a tie rod. The tie rod may also be coupled to a second steering arm. The first steering arm may be coupled to a first wheel and the second steering arm may be coupled to a second wheel.
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公开(公告)号：US20220121207A1
公开(公告)日：2022-04-21
申请号：US17138444
申请日：2020-12-30
发明人： Josip Cesic , Tomislav Haus , Matija Zigic
摘要： A system and a method are disclosed where a robot operating using a first traversal protocol traverses autonomously along a first route that is defined by markers that are detectable by the robot, wherein the robot is configured to move only based on a presence and type of each marker when the robot is configured to operate based on the first traversal protocol. The robot detects, while traversing along the route, a triggering condition corresponding to a change in operation by the robot from the first traversal protocol to a second traversal protocol. Responsive to detecting the triggering condition, the robot is configured to operate in the second traversal protocol, wherein the robot, when configured to operate based on the second traversal protocol, determines a second route autonomously without regard to a presence of any of the markers.
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公开(公告)号：US20240208736A1
公开(公告)日：2024-06-27
申请号：US18544101
申请日：2023-12-18
发明人： Juraj Radic , Valentina Zadrija , Darko Janekovic
CPC分类号： B65G43/02 , B65G1/04 , B65G2203/0233 , B65G2203/041
摘要： An autonomous mobile robot receives sensor data from one or more sensors. The sensor data includes image data depicting a load coupled to a pallet and depth data indicating distance of surfaces of the load or the pallet from the one or more sensors. A first machine-learning model is applied to the image data to generate a first mask and second mask. The first mask represents the load, and the second mask represents the pallet. The first mask, the second mask, and/or the depth data are then used to determine a load orientation and load size. Based on the load orientation and load size, the robot evaluates the load's stability. If the stability is deemed safe, the robot is caused to lift the pallet.
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公开(公告)号：US11958688B2
公开(公告)日：2024-04-16
申请号：US17138420
申请日：2020-12-30
发明人： Josip Cesic , Tomislav Haus
IPC分类号： B65G1/06 , B65G1/137 , B66F9/06 , G05B19/418 , G05D1/00 , G05D1/02 , G06F3/0486 , G06F18/21 , G06V20/10 , G06V20/64 , G06V30/194 , G06F3/04847
CPC分类号： B65G1/06 , B65G1/065 , B65G1/1375 , B66F9/063 , G05B19/41895 , G05D1/0044 , G05D1/0212 , G05D1/0214 , G05D1/0231 , G05D1/0291 , G05D1/0297 , G06F3/0486 , G06F18/21 , G06V20/10 , G06V20/64 , G06V30/194 , B65G2203/0233 , B65G2203/041 , G05D2201/0216 , G06F3/04847
摘要： A system and a method are disclosed that identifies a source area within a facility comprising a plurality of objects, and determines a destination area within the facility to which the plurality of objects are to be transported and unloaded. The system selects robots within the facility based a capability of the robots and/or a location of the robots within the facility. The system provides an instruction to the robots to transport the plurality of objects from the source area to the destination area. The robots are configured to autonomously select an object based on a position and location of the object within the source area, transport the selected object to a destination area along a route selected by the robot, and unload the selected object at a location within the destination area selected based on a number of objects yet to be unloaded within the destination area.
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